CN114527747A - Unmanned ship trajectory tracking method based on self-adaptive pre-aiming point and projection positioning - Google Patents
Unmanned ship trajectory tracking method based on self-adaptive pre-aiming point and projection positioning Download PDFInfo
- Publication number
- CN114527747A CN114527747A CN202210049835.0A CN202210049835A CN114527747A CN 114527747 A CN114527747 A CN 114527747A CN 202210049835 A CN202210049835 A CN 202210049835A CN 114527747 A CN114527747 A CN 114527747A
- Authority
- CN
- China
- Prior art keywords
- unmanned ship
- path
- current
- initial path
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 239000013598 vector Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The invention discloses an unmanned ship trajectory tracking method based on self-adaptive preview points and projection positioning. The method comprises the following steps: presetting an initial path for navigation of the unmanned ship; controlling the unmanned ship to sail according to the initial path, and acquiring the real-time motion state of the unmanned ship; judging whether the real navigation path of the unmanned ship deviates from the initial path or not according to the real-time motion state of the unmanned ship, and if the navigation path deviates from the initial path, acquiring a target point on the initial path; acquiring the yaw distance and the yaw angle of the unmanned ship according to the target point; and correcting the real-time motion state of the unmanned ship according to the real-time motion state, the yaw distance and the yaw angle of the unmanned ship. The method can give consideration to both course error and track error, and has better track fluency and rudder direction stability compared with double closed-loop control of rudder direction error and track error; the position of the preview point under different speeds and different track curvatures can be adaptively adjusted to take track tracking accuracy and navigation stability into consideration.
Description
Technical Field
The invention relates to a track tracking method, in particular to an unmanned ship track tracking method based on self-adaptive preview point and projection positioning.
Background
Tracking of a ship means that a vehicle such as an autonomous vehicle or a ship starts from a certain position and reaches an originally set position within a predetermined time by control of a tracking system. High performance trajectory tracking algorithms are urgently needed for surface unmanned vessels.
At present, a track tracking control method based on a preview point is generally applied, and a tracking scheme is calculated according to the preview point. However, the distance between the preview points is mostly manually preset, which brings a series of possible problems, mainly manifested as the phenomena of leading steering and lagging steering before and after a curve with large curvature, low tracking precision in a complex road, poor control effect when the initial deviation is large, and too frequent adjustment when the deviation from the preset path is not large.
Disclosure of Invention
In order to solve the problems in the background art, the unmanned ship track tracking method based on the self-adaptive aiming point and the projection positioning can adaptively decide a control scheme according to the situation of the unmanned ship and a path, change the distance of the aiming point and improve the tracking precision by fully utilizing the path information.
The technical scheme adopted by the invention is as follows:
the method comprises the following steps:
step 100, presetting an initial path for unmanned ship navigation;
200, controlling the unmanned ship to sail according to an initial path to obtain a real-time motion state of the unmanned ship;
step 300, under an ideal condition, the unmanned ship should sail along the initial path as much as possible, and under the condition of being interfered by the sea environment, the unmanned ship can sail deviating from the initial path; judging whether the real navigation path of the unmanned ship deviates from the initial path or not according to the real-time motion state of the unmanned ship, and acquiring a target point on the initial path if the navigation path deviates from the initial path;
step 400, acquiring the yaw distance and the yaw angle of the unmanned ship according to the target point;
and 500, correcting the real-time motion state of the unmanned ship according to the real-time motion state, the yaw distance and the yaw angle of the unmanned ship.
In the step 100, a preset initial path of the unmanned ship, that is, a path to be tracked of the unmanned ship, is generally a curve path formed by a series of path points or functional expressions, where a first path point in the initial path is used as an origin of coordinates, a latitude line is an x-axis, a longitude line is a y-axis, and path points of the initial path are represented as:
P(i)＝[px(i),py(i)]
where, p (i) is the ith path point in the initial path, px (i) is the x-axis coordinate of the ith path point, and py (i) is the y-axis coordinate of the ith path point.
In the step 200, the real-time motion state of the unmanned ship includes a heading angle, a sailing speed v (t), and a current position [ x (t), y (t) ], at a current time t, where x (t) is an x-axis coordinate of the unmanned ship at the current time t, and y (t) is a y-axis coordinate of the unmanned ship at the current time t.
In the step 300, it is determined whether the true navigation path of the unmanned ship deviates from the initial path:
if the actual navigation path of the unmanned ship does not deviate from the initial path, continuing to control the unmanned ship to navigate according to the initial path;
if the true navigation path of the unmanned ship deviates from the initial path, namely the navigation path generates lateral deviation relative to the initial path, the following judgment is carried out:
if the true navigation path of the unmanned ship deviates from the initial path for the first time, traversing all path points in the initial path, and taking a path point which is closest to the current position of the unmanned ship in front of the current unmanned ship as a target point;
if the true navigation path of the unmanned ship is not the first deviation initial path, starting from a target point P (m) acquired by the unmanned ship from the initial path, traversing the front of the unmanned shipIn the initial path of the party
And acquiring a path point which is closest to the current position of the unmanned ship as a current target point, wherein P (m) is the mth path point in the initial path, v (t) is the navigation speed of the current unmanned ship, delta t is the unit time of the control frequency of a control signal sent out when the unmanned ship is controlled to navigate, and s is the average distance between the path points of the initial path.
In the step 400, a tangent line of the target point on the initial path is taken as a projection line, a projection length of a straight line between the current position of the unmanned ship and the target point on the projection line is taken as a yaw distance D, and an included angle between the tangent line of the current position of the unmanned ship on the real sailing path and the projection line is taken as a yaw angle α.
In the step 500, a projection threshold λ and a heading angle threshold are preset
The unmanned ship navigation path judging device is used for judging the difference between the real navigation path of the unmanned ship and a preset path;
adjusting a course angle:
according to the yaw distance D and the yaw angle alpha of the current unmanned ship, the following judgment is carried out, and the course angle of the current unmanned ship is adjusted:
if D is not more than λ or
When the unmanned ship is in the current state, the course angle of the unmanned ship is not adjusted;
if D is>λ and
if so, adjusting the course angle of the current unmanned ship to enable the course of the current unmanned ship to face the target point;
and (3) adjusting the navigation speed:
according to the yaw distance D and the yaw angle alpha of the current unmanned ship, the following judgments are carried out simultaneously, and the navigation speed of the current unmanned ship is adjusted:
if D is not more than λ and
when, or D is not more than λ and
then, in the initial path in front of the current unmanned ship, starting from the target point, the distance d is the same1Taking points on two initial paths as preview points, d1The current unmanned ship sails at a speed equal to v (t) Δ t, v (t), and Δ t is a unit time of a control frequency of a control signal sent by the unmanned ship when the unmanned ship is controlled to sail; and the following judgments were made:
if the course angles of the unmanned ship when the unmanned ship sails to the two pre-aiming points along the straight line from the current position are smaller than the course angle threshold value
Controlling the current unmanned ship to accelerate;
if the course angle of the unmanned ship when the unmanned ship sails to the two pre-aiming points along the straight line from the current position is not less than the course angle threshold value
Or only one of the heading angles is not less than the heading angle threshold
Keeping the current sailing speed v (t) of the unmanned ship;
if D is>Lambda is the distance d from the target point in the initial path in front of the unmanned ship at present according to the following formulajTaking the jth preview point:
wherein, κjThe curvature of the jth preview point in the initial path is represented by j ═ 1, 2 and 3;
three preview points P1 are taken,P2 and P3, calculating the distance d between the preview points, d ═ d1+d2+d3(ii) a Recording the current target point as P0, calculating included angles alpha 1, alpha 2 and alpha 3 between the course angle of the unmanned ship and vectors P0P1, P0P2 and P0P3 respectively, and then calculating the course turning angle of the current unmanned ship according to the following formula:
wherein, T0Adjusting the following time constant according to the actual condition of the control equipment sending the control signal;
and judging according to the course turning angle as follows:
if it is
When the unmanned ship is in the high-speed state, controlling the current unmanned ship to decelerate, wherein the larger the course turning angle is, the larger the deceleration amplitude is;
if it is
And keeping the current sailing speed v (t) of the unmanned ship.
The invention has the beneficial effects that:
1. the track control mode of following the preview point can give consideration to course error and track error, and compared with double closed-loop control of rudder direction error and track error, the track control method has better track fluency and rudder direction stability.
2. The positions of the preview points under different speeds and different track curvatures can be adjusted in a self-adaptive mode so as to take track tracking accuracy and navigation stability into consideration.
Drawings
FIG. 1 is a flow chart of a trajectory tracking method for adaptive pre-pointing and projection positioning;
FIG. 2 is a schematic diagram of the projection length of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, the method of the present invention comprises the steps of:
and step 100, presetting an initial path for the unmanned ship to navigate.
In step 100, a preset initial path of the unmanned ship, that is, a path to be tracked of the unmanned ship, is generally a curve path formed by a series of path points or a functional formula, as shown in fig. 2, a first path point in the initial path is taken as an origin of coordinates, a latitude line is an x axis, a longitude line is a y axis, and path points of the initial path are represented as:
P(i)＝[px(i),py(i)]
where, p (i) is the ith path point in the initial path, px (i) is the x-axis coordinate of the ith path point, and py (i) is the y-axis coordinate of the ith path point.
And 200, controlling the unmanned ship to sail according to the initial path, and acquiring the real-time motion state of the unmanned ship.
In step 200, the real-time motion state of the unmanned ship comprises a heading angle, a sailing speed v (t) and a current position [ x (t), y (t) ] of the unmanned ship at a current time t, wherein x (t) is an x-axis coordinate of the unmanned ship at the current time t, and y (t) is a y-axis coordinate of the unmanned ship at the current time t.
Step 300, under an ideal condition, the unmanned ship should sail along the initial path as much as possible, and under the condition of being interfered by the sea environment, the unmanned ship can sail deviating from the initial path; at this time, whether the real navigation path of the unmanned ship deviates from the initial path is judged according to the real-time motion state of the unmanned ship, and in step 300, whether the real navigation path of the unmanned ship deviates from the initial path is judged:
if the actual navigation path of the unmanned ship does not deviate from the initial path, continuing to control the unmanned ship to navigate according to the initial path;
if the true navigation path of the unmanned ship deviates from the initial path, namely the navigation path generates lateral deviation relative to the initial path, the following judgment is carried out:
if the true navigation path of the unmanned ship deviates from the initial path for the first time, traversing all path points in the initial path, and taking a path point which is closest to the current position of the unmanned ship in front of the current unmanned ship as a target point;
if the true navigation path of the unmanned ship is not the first deviation initial path, starting from a target point P (m) acquired by the unmanned ship from the initial path, traversing the initial path in front of the unmanned ship
And acquiring a path point closest to the current position of the unmanned ship as a current target point, wherein P (m) is the mth path point in the initial path, v (t) is the navigation speed of the current unmanned ship, delta t is the unit time of the control frequency of a control signal sent out by the unmanned ship when the unmanned ship is controlled to navigate, and s is the average distance between the path points of the initial path.
And if the navigation path deviates from the initial path, acquiring a target point on the initial path.
And step 400, acquiring the yaw distance and the yaw angle of the unmanned ship according to the target point.
As shown in fig. 2, in step 400, a tangent line of the target point on the initial path is taken as a projection line, a projection length of a straight line between the current position of the unmanned ship and the target point on the projection line is taken as a yaw distance D, and an included angle between the tangent line of the current position of the unmanned ship on the real sailing path and the projection line is taken as a yaw angle α.
And 500, correcting the real-time motion state of the unmanned ship according to the real-time motion state, the yaw distance and the yaw angle of the unmanned ship.
In step 500, a projection threshold λ and a heading angle threshold are preset
The unmanned ship navigation path judging device is used for judging the difference between the real navigation path of the unmanned ship and a preset path;
adjusting a course angle:
according to the yaw distance D and the yaw angle alpha of the current unmanned ship, the following judgment is carried out, and the course angle of the current unmanned ship is adjusted:
if D is not more than λ or
When the unmanned ship is in the current state, the course angle of the unmanned ship is not adjusted;
if D is>λ and
if so, adjusting the course angle of the current unmanned ship to enable the course of the current unmanned ship to face the target point;
and (3) adjusting the navigation speed:
according to the yaw distance D and the yaw angle alpha of the current unmanned ship, the following judgments are carried out simultaneously, and the navigation speed of the current unmanned ship is adjusted:
if D is not more than λ and
when, or D is not more than λ and
then, in the initial path in front of the current unmanned ship, starting from the target point, the distance d is the same1Taking points on two initial paths as preview points, d1The current unmanned ship sails at a speed equal to v (t) Δ t, v (t), and Δ t is a unit time of a control frequency of a control signal sent by the unmanned ship when the unmanned ship is controlled to sail; and the following judgments were made:
if the course angles of the unmanned ship when the unmanned ship sails to the two pre-aiming points along the straight line from the current position are smaller than the course angle threshold value
Controlling the current unmanned ship to accelerate;
if the course angle of the unmanned ship when the unmanned ship sails to the two pre-aiming points along the straight line from the current position is not less than the course angle threshold value
Or only one of the heading angles is not less than the heading angle threshold
Keeping the current sailing speed v (t) of the unmanned ship;
if D is>Lambda is the distance d from the target point in the initial path in front of the unmanned ship at present according to the following formulajTaking the jth preview point:
wherein k isjThe curvature of the jth preview point in the initial path is represented by j ═ 1, 2 and 3;
three aiming points P1, P2 and P3 are taken in total, and the aiming point distance d is calculated, wherein d is d1+d2+d3(ii) a Recording the current target point as P0, calculating included angles alpha 1, alpha 2 and alpha 3 between the course angle of the unmanned ship and vectors P0P1, P0P2 and P0P3 respectively, and then calculating the course turning angle of the current unmanned ship according to the following formula:
wherein, T0Adjusting the following time constant according to the actual condition of the control equipment sending the control signal;
and judging according to the course turning angle as follows:
if it is
When the unmanned ship is in the high-speed state, controlling the current unmanned ship to decelerate, wherein the larger the course turning angle is, the larger the deceleration amplitude is;
if it is
And keeping the current navigation speed v (t) of the unmanned ship.
Claims (6)
1. An unmanned ship track tracking method based on self-adaptive preview point and projection positioning is characterized by comprising the following steps:
step 100, presetting an initial path for unmanned ship navigation;
200, controlling the unmanned ship to sail according to an initial path to obtain a real-time motion state of the unmanned ship;
step 300, judging whether the real navigation path of the unmanned ship deviates from the initial path or not according to the real-time motion state of the unmanned ship, and if the navigation path deviates from the initial path, acquiring a target point on the initial path;
step 400, acquiring the yaw distance and the yaw angle of the unmanned ship according to the target point;
and 500, correcting the real-time motion state of the unmanned ship according to the real-time motion state, the yaw distance and the yaw angle of the unmanned ship.
2. The unmanned ship trajectory tracking method based on adaptive aiming point and projection positioning as claimed in claim 1, wherein:
in the step 100, the preset initial path of the unmanned ship is a curved path formed by a series of path points, a first path point in the initial path is taken as an origin of coordinates, a latitude line is an x-axis, a longitude line is a y-axis, and the path points of the initial path are represented as:
P(i)＝[px(i),py(i)]
where, p (i) is the ith path point in the initial path, px (i) is the x-axis coordinate of the ith path point, and py (i) is the y-axis coordinate of the ith path point.
3. The unmanned ship trajectory tracking method based on adaptive aiming point and projection positioning according to claim 2, characterized in that:
in the step 200, the real-time motion state of the unmanned ship includes a heading angle, a navigation speed v (t), and a current position [ x (t), y (t) ] of the unmanned ship at a current time t, where x (t) is an x-axis coordinate of the unmanned ship at the current time t, and y (t) is a y-axis coordinate of the unmanned ship at the current time t.
4. The unmanned ship trajectory tracking method based on adaptive aiming point and projection positioning as claimed in claim 2, characterized in that:
in the step 300, it is determined whether the true navigation path of the unmanned ship deviates from the initial path:
if the true navigation path of the unmanned ship does not deviate from the initial path, continuing to control the unmanned ship to navigate according to the initial path;
if the actual navigation path of the unmanned ship deviates from the initial path, the following judgment is carried out:
if the true navigation path of the unmanned ship deviates from the initial path for the first time, traversing all path points in the initial path, and taking a path point which is closest to the current position of the unmanned ship in front of the current unmanned ship as a target point;
if the true navigation path of the unmanned ship is not the first deviation initial path, starting from a target point P (m) acquired by the unmanned ship from the initial path, traversing the initial path in front of the unmanned ship
And acquiring a path point which is closest to the current position of the unmanned ship as a current target point, wherein P (m) is the mth path point in the initial path, v (t) is the navigation speed of the current unmanned ship, delta t is the unit time of the control frequency of a control signal sent out when the unmanned ship is controlled to navigate, and s is the average distance between the path points of the initial path.
5. The unmanned ship trajectory tracking method based on adaptive aiming point and projection positioning as claimed in claim 3, wherein:
in the step 400, a tangent line of the target point on the initial path is taken as a projection line, a projection length of a straight line between the current position of the unmanned ship and the target point on the projection line is taken as a yaw distance D, and an included angle between the tangent line of the current position of the unmanned ship on the real sailing path and the projection line is taken as a yaw angle α.
6. The unmanned ship trajectory tracking method based on the adaptive aiming point and the projection position as claimed in claim 1, wherein:
in step 500, a projection is presetThreshold lambda and course angle threshold
Adjusting a course angle:
according to the yaw distance D and the yaw angle alpha of the current unmanned ship, the following judgment is carried out, and the course angle of the current unmanned ship is adjusted:
if D is not more than λ or
When the unmanned ship is in the current state, the course angle of the unmanned ship is not adjusted;
if D is>λ and
if so, adjusting the course angle of the current unmanned ship to enable the course of the current unmanned ship to face the target point;
and (3) adjusting the navigation speed:
according to the yaw distance D and the yaw angle alpha of the current unmanned ship, the following judgments are carried out simultaneously, and the navigation speed of the current unmanned ship is adjusted:
if D is not more than λ and
when, or D is not more than λ and
then, in the initial path in front of the current unmanned ship, starting from the target point, the distance d is the same1Taking points on two initial paths as preview points, d1The current unmanned ship sails at a speed equal to v (t) Δ t, v (t), and Δ t is a unit time of a control frequency of a control signal sent by the unmanned ship when the unmanned ship is controlled to sail; and the following judgments were made:
if the course angles of the unmanned ship when the unmanned ship sails to the two pre-aiming points along the straight line from the current position are smaller than the course angle threshold value
Controlling the current unmanned ship to accelerate;
if the course angle of the unmanned ship when the unmanned ship sails to the two pre-aiming points along the straight line from the current position is not less than the course angle threshold value
Or only one of the heading angles is not less than the heading angle threshold
Keeping the current sailing speed v (t) of the unmanned ship;
if D is>Lambda is the distance d from the target point in the initial path in front of the unmanned ship at present according to the following formulajTaking the jth preview point:
wherein, κjThe curvature of the jth preview point in the initial path is represented by j ═ 1, 2 and 3;
three aiming points P1, P2 and P3 are taken in total, and the aiming point distance d is calculated, wherein d is d1+d2+d3(ii) a Recording the current target point as P0, calculating included angles alpha 1, alpha 2 and alpha 3 between the course angle of the unmanned ship and vectors P0P1, P0P2 and P0P3 respectively, and then calculating the course turning angle of the current unmanned ship according to the following formula:
wherein, T0Is a preset following time constant;
and judging according to the course turning angle as follows:
if it is
When the unmanned ship is in the high-speed state, the current unmanned ship is controlled to decelerate;
if it is
And keeping the current sailing speed v (t) of the unmanned ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210049835.0A CN114527747A (en) | 2022-01-17 | 2022-01-17 | Unmanned ship trajectory tracking method based on self-adaptive pre-aiming point and projection positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210049835.0A CN114527747A (en) | 2022-01-17 | 2022-01-17 | Unmanned ship trajectory tracking method based on self-adaptive pre-aiming point and projection positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114527747A true CN114527747A (en) | 2022-05-24 |
Family
ID=81621459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210049835.0A Pending CN114527747A (en) | 2022-01-17 | 2022-01-17 | Unmanned ship trajectory tracking method based on self-adaptive pre-aiming point and projection positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114527747A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115571299A (en) * | 2022-12-08 | 2023-01-06 | 亿海蓝（北京）数据技术股份公司 | Ship yaw judging method, device, readable storage medium and ship |
| CN116627145A (en) * | 2023-07-25 | 2023-08-22 | 陕西欧卡电子智能科技有限公司 | Autonomous navigation control method and system for unmanned pleasure boat |
| CN117742352A (en) * | 2024-02-21 | 2024-03-22 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
-
2022
- 2022-01-17 CN CN202210049835.0A patent/CN114527747A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115571299A (en) * | 2022-12-08 | 2023-01-06 | 亿海蓝（北京）数据技术股份公司 | Ship yaw judging method, device, readable storage medium and ship |
| CN115571299B (en) * | 2022-12-08 | 2023-03-03 | 亿海蓝（北京）数据技术股份公司 | Ship yaw determination method and device, readable storage medium and ship |
| CN116627145A (en) * | 2023-07-25 | 2023-08-22 | 陕西欧卡电子智能科技有限公司 | Autonomous navigation control method and system for unmanned pleasure boat |
| CN116627145B (en) * | 2023-07-25 | 2023-10-20 | 陕西欧卡电子智能科技有限公司 | Autonomous navigation control method and system for unmanned pleasure boat |
| CN117742352A (en) * | 2024-02-21 | 2024-03-22 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114527747A (en) | Unmanned ship trajectory tracking method based on self-adaptive pre-aiming point and projection positioning | |
| CN110001637B (en) | Unmanned vehicle path tracking control device and control method based on multipoint tracking | |
| CN111487966B (en) | Self-adaptive path tracking control method for unmanned surface vehicle based on waypoints | |
| CN109131325B (en) | Lane keeping control method for three-dimensional extension preview switching of intelligent driving automobile | |
| WO2021230356A1 (en) | Method for autonomously guiding vessel, program for autonomously guiding vessel, system for autonomously guiding vessel, and vessel | |
| CN110466707B (en) | Follow-up anti-rolling device applied to small high-speed ship | |
| CN112947494B (en) | Fuzzy PID (proportion integration differentiation) -based automatic ship berthing control method | |
| CN110006419A (en) | Vehicle track tracking point determination method based on preview | |
| CN112650231B (en) | Under-actuated ship formation control system for realizing collision and obstacle avoidance | |
| CN108646766A (en) | A kind of safe tracking of unmanned boat based on Collaborative Control and tracking system | |
| CN114527744B (en) | Unmanned sailing boat path tracking guidance method based on longhorn beetle whisker search optimization | |
| CN108362296A (en) | The end visual guidance method of AUV and connection station underwater mating | |
| CN112558642A (en) | Sea-air combined capturing method suitable for heterogeneous multi-unmanned system | |
| CN112180972A (en) | Unmanned aerial vehicle route determining method based on front wheel steering technology | |
| CN109582026B (en) | Autonomous underwater vehicle path tracking control method based on self-tuning sight line and drift angle compensation | |
| CN113741450B (en) | Transverse self-adaptive control method for automatic driving of vehicle | |
| CN111845739A (en) | Vehicle travel control device | |
| JP3472831B2 (en) | Ship route control method and apparatus, and ship | |
| CN111674406A (en) | Method for controlling vehicle transverse direction of automatic driving system | |
| CN116610122A (en) | Unmanned ship path tracking method capable of stabilizing navigational speed and unmanned ship | |
| CN116339314A (en) | Under-actuated unmanned ship track tracking control method based on self-adaptive sliding mode | |
| CN115145282A (en) | Automatic berthing robust self-adaptive control method for under-actuated ship | |
| CN115686004A (en) | Path dynamic planning method based on unmanned ship distributed formation control | |
| JP2001294197A (en) | Automatic navigation system of vessel | |
| CN114047743A (en) | Unmanned ship target tracking control method and system with prediction function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: 316021 Zhoushan campus of Zhejiang University, No.1 Zheda Road, Dinghai District, Zhoushan City, Zhejiang Province Applicant after: ZHEJIANG University Address before: 310058 Yuhang Tang Road, Xihu District, Hangzhou, Zhejiang 866 Applicant before: ZHEJIANG University Country or region before: China |